Robotic Grinding Process Based On Passive Compliance

Robotic grinding has higher automation than manual grinding.During grinding process,workpiece surface quality is an important standard to measure the quality of robot grinding.This paper designs a set of grinding system equipment based on passive compliance device,and will be the power control into the independent robot compliance device.The force control is simpler than the active force control and of better robot grinding performance,which separates from the robot controller through the compliance device.The main research contents of this paper are as follows:(1)The grinding system equipment based on passive compliance device is designed,and the composition and working principle of the system are introduced in detail.The positive kinematics and inverse kinematics of the grinding system are analyzed,which provides a theoretical basis for the analysis for the robot system.(2)The material grinding removal theory was introduced,including the principle of abrasive belt grinding,abrasive particle distribution,grinding removal rate model and roughness model,and the processing technology of robot grinding was analyzed based on the passive compliance grinding theory.Secondly,the control and calibration of passive compliance device are introduced,including the gas flow model and device control principle of passive compliance,which provides a theoretical basis for the simulation and experiment for grinding robot system.(3)The process parameters of the grinding and grinding system are optimized by Based on the Matlab optimization tool function,and the optimization combination of the process parameters of the grinding and grinding system under certain processing requirements is obtained according to the specific processing conditions.Through the optimization of the process parameters of abrasive belt grinding,it not only ensures the processing quality,but also has high production efficiency and has good practical results.(4)The nonlinear PD control method is used to control the robot to support the workpiece for grinding,and it can be seen from the simulation results of MATLAB and ADAMS that the mechanism runs smoothly in the ADAMS dynamic simulation,and the tension system and the compliance system can operate stably when the workpiece is on grinding operation.By comparing the transverse and longitudinal grinding methods,the simulation results show that the speed and acceleration of the cylinder of the compliance device change less,the grinding process is smoother and the contact force fluctuation is smaller during the transverse grinding,which can improve the surface processing quality of the parts.(5)Combined with the simulation results,the robot grinding and grinding system based on passive compliance device is used to verify the experiment,and the results show that the parts have good surface properties and achieve the expected effect.